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jrl-umi3218 / mc_state_observation

State observers for mc_rtc
BSD 2-Clause "Simplified" License
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Prepare for changes in mc_rtc #9

Closed gergondet closed 2 years ago

gergondet commented 2 years ago

In an upcoming PR for mc_rtc, mc_rbdyn::Robots cannot be created on the stack anymore, these changes prepare for this by using existing methods to load the Robots instance needed in some observers

@arntanguy this branch is miles ahead of the main branch, is there no mature observers here that could be incorporated to the main branch?

gergondet commented 2 years ago

Note: I have also cleaned up the CI file and switch clang-format to clang-format-10 to match mc_rtc's

arntanguy commented 2 years ago

Looks good, merging now.

@arntanguy this branch is miles ahead of the main branch, is there no mature observers here that could be incorporated to the main branch?

Yes, I'll look into it. With the exception of TiltObserver and LegacyFlexibilityObserver that are not working yet, I think the others should be merged to master. The MocapObserver hasn't been used much but is pretty simple (and was briefly tested on HRP5P).